Autonomous vehicle system configured to respond to temporary speed limit signs

ABSTRACT

Aspects of the disclosure provide for a method for identifying speed limit signs and controlling an autonomous vehicle in response to detected speed limit signs. The autonomous vehicle&#39;s computing devices identifies a speed limit sign in a vehicle&#39;s environment and a location and orientation corresponding to the speed limit sign. Then, the and orientation location of the speed limit sign is determined to not correspond to a pre-stored location and a pre-stored orientation of a speed limit sign that is pre-stored in map information. An effect zone of the speed limit sign is determined based on the location and orientation of the speed limit sign and characteristics of surrounding areas or other detected object before or after the speed limit sign. The autonomous vehicle&#39;s computing devices determines a response of the vehicle based on the determined effect zone, and controls the autonomous vehicle based on the determined response.

BACKGROUND

Autonomous vehicles, such as vehicles which do not require a humandriver when operating in an autonomous driving mode, may be used to aidin the transport of passengers or items from one location to another. Animportant component of an autonomous vehicle is the perception system,which allows the vehicle to perceive and interpret its surroundingsusing cameras, radar, sensors, and other similar devices. The perceptionsystem executes numerous decisions while the autonomous vehicle is inmotion, such as speeding up, slowing down, stopping, turning, etc.Autonomous vehicles may also use the cameras, sensors, and globalpositioning devices to gather and interpret images and sensor data aboutits surrounding environment, e.g., parked cars, trees, buildings, etc.

Information from the perception system may be combined with highlydetailed map information in order to allow a vehicle's computer tosafely maneuver the vehicle in various environments. This highlydetailed map information may describe expected conditions of thevehicle's environment such as the shape and location of roads, trafficsignals, and other objects. In this regard, the information from theperception system and detailed map information may be used to assist avehicle's computer in making driving decisions involving intersectionsand traffic signals.

BRIEF SUMMARY

Aspects of the disclosure provide a computer-implemented method. Themethod includes using one or more computing devices to identify a speedlimit sign in a vehicle's environment and identify a location andorientation corresponding to the speed limit sign. This method alsoincludes using the one or more computing devices to determine whetherthe location and orientation of the identified speed limit signcorresponds to a pre-stored location and a pre-stored orientation of aspeed limit sign that is pre-stored in map information and, when thelocation and orientation do not correspond to the pre-stored locationand the pre-stored orientation, determine an effect zone of theidentified speed limit sign based on the location and orientation of theidentified speed limit sign and characteristics of surrounding areas orother detected object before or after the identified speed limit sign.In addition, this method includes using the one or more computingdevices to determine a response of the vehicle based on the determinedeffect zone of the identified speed limit sign and control the vehiclebased on the determined response.

In one example implementation, determining the effect zone of theidentified speed limit sign includes determining a start point and anend point of the effect zone. In this implementation, the start point isoptionally determined to be at a point of a road at a predetermineddistance before the location, and the end point is optionally determinedto be at a point of the road at a predetermined distance before alocation of another speed limit sign. Alternatively for thisimplementation, the start point is determined to be a first point of aroad where a speed change location begins, and the end point isdetermined to be a second point of the road where the speed changelocation ends.

In an additional example, determining the effect zone of the identifiedspeed limit sign includes determining a confidence level for whether aspeed limit on the identified speed limit sign applies to a point in aroad. In this example, the confidence level is optionally determined tobe higher for points of the road at or past the identified speed limitsign and before another speed limit sign than for points before theidentified speed limit sign; higher for points of the road in atemporary speed change location than for points of the road outside thetemporary speed change location; higher for points of the road at orpast a first detected sign having text or symbols related to an upcomingchange in speed for points of the road before the identified speed limitsign; and lower for points of the road at or past a second detected signhaving text or symbols related to an end of the effect zone.Additionally or alternatively in this example, the effect zone isdetermined by comparing the confidence level to a first confidencethreshold and a second confidence threshold. When a first point of theroad has a first confidence level above the first confidence threshold,the first point of the road is determined to be a start point of theeffect zone and, when a second point of the road has a second confidencelevel below the second confidence threshold, the second point of theroad is determined to be an end point of the effect zone.

The method also includes, in a further example, using the one or morecomputing devices to detect a plurality of vehicles in the vehicle'senvironment and determine a speed of each of the plurality of vehiclesin the vehicle's environment. In this example, determining the responseof the vehicle is based also on the determined speed of each of theplurality of vehicles.

Other aspects of the disclosure provide for a system. The systemincludes a perception system configured to detect an object in avehicle's environment at a detected location, a memory storing mapinformation, and one or more computing devices. The one or morecomputing devices are configured to identify a speed limit sign in avehicle's environment and identify a location and orientationcorresponding to the identified speed limit sign. In addition, the oneor more computing devices are configured to determine whether thelocation and orientation of the identified speed limit sign correspondsto a pre-stored location and a pre-stored orientation of a speed limitsign that is pre-stored in the map information and, when the locationand orientation do not correspond to the pre-stored location and thepre-stored orientation of the pre-stored speed limit sign, determine aneffect zone of the identified speed limit sign based on the location andorientation of the identified speed limit sign and characteristics ofsurrounding areas or other detected object before or after theidentified speed limit sign. The one or more computing devices areadditionally configured to determine a response of the vehicle based onthe determined effect zone of the identified speed limit sign andcontrol the vehicle based on the determined response.

In one example implementation, determining the effect zone of theidentified speed limit sign includes determining a start point and anend point of the effect zone. In this implementation, the start point isoptionally determined to be at a point of a road at a predetermineddistance before the location of the identified speed limit sign, and theend point is optionally determined to be at a point of the road at apredetermined distance before a location of another speed limit sign.Alternatively, the start point is determined to be a first point of aroad where a speed change location begins, and the end point isdetermined to be a second point of the road where the speed changelocation ends.

In another example, determining the effect zone of the identified speedlimit sign includes determining a confidence level for whether a speedlimit on the identified speed limit sign applies to a point in a road.The confidence level in this example is optionally determined to behigher for points of the road at or past the identified speed limit signand before another speed limit sign than for points before theidentified speed limit sign; higher for points of the road in atemporary speed change location than for points of the road outside thetemporary speed change location; higher for points of the road at orpast a first detected sign having text or symbols related to an upcomingchange in speed; and lower for points of the road at or past a seconddetected sign having text or symbols related to an end of the effectzone. Additionally or alternatively in this example, the effect zone isdetermined by comparing the confidence level to a first confidencethreshold and a second confidence threshold. When a first point of theroad has a first confidence level above the first confidence threshold,the first point of the road is determined to be a start point of theeffect zone and, when a second point of the road has a second confidencelevel below the second confidence threshold, the second point of theroad is determined to be an end point of the effect zone.

The one or more computing devices, in a further example, are configuredto detect a plurality of vehicles in the vehicle's environment, anddetermine a speed of each of the plurality of vehicles in the vehicle'senvironment. In this further example, determining the response of thevehicle is based also on the determined speed of each of the pluralityof vehicles. In yet another implementation, the system also includes thevehicle.

Further aspects of the disclosure provide for a non-transitory, tangiblecomputer-readable storage medium on which computer readable instructionsof a program are stored. The instructions, when executed by one or morecomputing devices, cause the one or more computing devices to perform amethod. The method includes identifying a speed limit sign in avehicle's environment and identifying a location and orientationcorresponding to the identified speed limit sign. The method alsoincludes determining whether the location and orientation of theidentified speed limit sign corresponds to a pre-stored location and apre-stored orientation of a speed limit sign that is pre-stored in mapinformation and, when the location and orientation do not correspond tothe pre-stored location and the pre-stored orientation of the pre-storedspeed limit sign, determining an effect zone of the identified speedlimit sign based on the location and orientation of the identified speedlimit sign and characteristics of surrounding areas or other detectedobject before or after the identified speed limit sign. In addition, themethod also includes determining a response of the vehicle based on thedetermined effect zone of the identified speed limit sign andcontrolling the vehicle based on the determined response.

In an example implementation, determining the effect zone of theidentified speed limit sign includes determining a confidence level forwhether a speed limit on the identified speed limit sign applies to apoint in a road. The confidence level in this example is determined tobe higher for points of the road at or past the identified speed limitsign and before another speed limit sign than for points before theidentified speed limit sign; higher for points of the road in atemporary speed change location than for points of the road outside thetemporary speed change location; higher for points of the road at orpast a first detected sign having text or symbols related to an upcomingchange in speed; and lower for points of the road at or past a seconddetected sign having text or symbols related to an end of the effectzone.

Additionally or alternatively, determining the effect zone of theidentified speed limit sign includes determining a confidence level forwhether a speed limit on the identified speed limit sign applies to apoint in a road by comparing the confidence level to a first confidencethreshold and a second confidence threshold. In this implementation,when a first point of the road has a first confidence level above thefirst confidence threshold, the first point of the road is determined tobe a start point of the effect zone and, when a second point of the roadhas a second confidence level below the second confidence threshold, thesecond point of the road is determined to be an end point of the effectzone.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a functional diagram of an autonomous vehicle 100 inaccordance with aspects of the disclosure.

FIG. 2 is an interior of an autonomous vehicle in accordance withaspects of the disclosure.

FIG. 3 is an example of detailed map information 300 in accordance withaspects of the disclosure.

FIG. 4 is an example diagram of an example scenario and a section ofroad in accordance with aspects of the disclosure.

FIG. 5 is an example diagram of an example scenario and another sectionof road in accordance with aspects of the disclosure.

FIG. 6 is an example diagram of an example scenario and yet anothersection of road in accordance with aspects of the disclosure.

FIG. 7 is an example diagram of an example scenario and a furthersection of road in accordance with aspects of the disclosure.

FIG. 8 is an example flow diagram in accordance with aspects of thedisclosure.

DETAILED DESCRIPTION

Overview

The technology relates to determining a response of an autonomousvehicle to a temporary speed limit sign. When the perception system ofthe vehicle detects an object, the vehicle's computing devices maydetermine the location of the object and identify whether the object isa speed limit sign. When the object is classified as or determined to bea speed limit sign, then the vehicle's computing devices may determinewhether the speed limit sign is permanent with general effect, permanentwith local effect, or temporary based on pre-stored detailed mapinformation and other factors.

The vehicle's computing device may then determine an effect zone of thepermanent with general effect, permanent with local effect, or temporaryspeed limit sign. The effect zone is a section of road where the speedlimit of the speed limit sign applies. For a speed limit sign that ispermanent with general effect, a start point of the effect zone may beeither at a point of the road at the location of the speed limit sign ora predetermined distance before the speed limit sign. For a speed limitsign that is permanent with local effect, a start point of the effectzone may be a start point of the speed change location associated withthe speed limit sign that is permanent with local effect, and an endpoint of the effect zone may be an end point of the speed changelocation. For a temporary speed limit sign, a start point of the effectzone and an end point of the effect zone may be determined using aconfidence level indicating whether the speed limit on the temporaryspeed limit sign applies to various points along the road. A higherconfidence level may indicate that the speed limit is more likely toapply to a given point in the road and therefore is more likely be partof the effect zone.

The confidence level may be determined based on the location of thespeed limit sign, characteristics of surrounding areas, and detectedsigns before and after the speed limit sign. As an example, points ofthe road at or past the speed limit sign and before another speed limitsign may have higher confidence levels. Points of the road within apredetermined distance before the speed limit sign may have higherconfidence levels than points of the road farther away, or outside thepredetermined distance before the speed limit sign. To determineconfidence levels based on the characteristics of surrounding areas, forexample, points of the road in a temporary speed change location mayalso have higher confidence levels than other points of the road. Toalso determine the confidence level based on other detected signs, forexample, the vehicle's computing devices may extract text or symbolsfrom the detected signs. When signs indicating change of speed limit orsurrounding area is ahead are detected, the confidence level at pointsof the road after the detected sign may be increased. The confidencelevel may be increased within the indicated time period or at theindicated distance and decreased outside the indicated time period ordistance. When signs indicating end of the effect zone are detected, theconfidence level at points of the road after the detected sign may belower than before the detected sign.

When the effect zone of the detected speed limit sign is determined, thevehicle's computing devices may determine how the vehicle shouldrespond. This determination may be based on the effect zone or theeffect zone confidence level. In some examples, the determined responsemay also be based on a detected flow of surrounding traffic. Thevehicle's computing devices may then control the vehicle based on thedetermined response. Controlling the vehicle may involve decelerating,for instance, by applying a brake or accelerating, by applying input toan accelerator.

The features described herein may allow autonomous vehicles to reactproperly to different types of speed limit signs. As a result, users ofautonomous vehicles then do not have to switch into manual operation torespond to speed limit signs. The features described enable theautonomous vehicle to distinguish among a permanent speed limit signwith general effect, a permanent speed limit sign with local effect, anda temporary speed limit. Then, autonomous vehicle may slow or speed upthe appropriate amount based on its type. Users of such autonomousvehicles may experience a smoother ride without the need to pauseautonomous operation in order to navigate through an area with differentspeed limit signs.

Example Systems

As shown in FIG. 1, a vehicle 100 in accordance with one aspect of thedisclosure includes various components. While certain aspects of thedisclosure are particularly useful in connection with specific types ofvehicles, the vehicle may be any type of vehicle including, but notlimited to, cars, trucks, motorcycles, busses, boats, airplanes,helicopters, lawnmowers, recreational vehicles, amusement park vehicles,farm equipment, construction equipment, trams, golf carts, trains, andtrolleys. The vehicle may have one or more computing devices 110 thatinclude one or more processors 120, memory 130 and other componentstypically present in general purpose computing devices.

The memory 130 stores information accessible by the one or moreprocessors 120, including data 132 and instructions 134 that may beexecuted or otherwise used by the processor(s) 120. The memory 130 maybe of any type capable of storing information accessible by theprocessor(s), including a computing device-readable medium, or othermedium that stores data that may be read with the aid of an electronicdevice, such as a hard-drive, memory card, ROM, RAM, DVD or otheroptical disks, as well as other write-capable and read-only memories.Systems and methods may include different combinations of the foregoing,whereby different portions of the instructions and data are stored ondifferent types of media.

The data 132 may be retrieved, stored or modified by processor(s) 120 inaccordance with the instructions 132. For instance, although the claimedsubject matter is not limited by any particular data structure, the datamay be stored in computing device registers, in a relational database asa table having a plurality of different fields and records, XMLdocuments or flat files. The data may also be formatted in any computingdevice-readable format.

The instructions 134 may be any set of instructions to be executeddirectly (such as machine code) or indirectly (such as scripts) by theprocessor. For example, the instructions may be stored as computingdevice code on the computing device-readable medium. In that regard, theterms “instructions” and “programs” may be used interchangeably herein.The instructions may be stored in object code format for directprocessing by the processor, or in any other computing device languageincluding scripts or collections of independent source code modules thatare interpreted on demand or compiled in advance. Functions, methods androutines of the instructions are explained in more detail below.

The one or more processors 120 may be any conventional processors, suchas commercially available CPUs. Alternatively, the one or moreprocessors may be a dedicated device such as an ASIC or otherhardware-based processor, such as a field programmable gate array(FPGA). Although FIG. 1 functionally illustrates the processor(s),memory, and other elements of the vehicle's computing devices 110 asbeing within the same block, it will be understood by those of ordinaryskill in the art that the processor, computing device, or memory mayactually include multiple processors, computing devices, or memoriesthat may or may not be stored within the same physical housing. Forexample, memory may be a hard drive or other storage media located in ahousing different from that of the vehicle's computing devices 110.Accordingly, references to a processor or computing device will beunderstood to include references to a collection of processors orcomputing devices or memories that may or may not operate in parallel.

The vehicle's computing devices 110 may have all of the componentsnormally used in connection with a computing device such as theprocessor and memory described above, as well as a user input device 150(e.g., a mouse, keyboard, touch screen and/or microphone), variouselectronic displays (e.g., a monitor having a screen, a small LCDtouch-screen or any other electrical device that is operable to displayinformation), audio output (such as speakers 152), and a wirelessnetwork connection 154. In this example, the vehicle includes aninternal electronic display 156. In this regard, internal electronicdisplay 156 may be located within a cabin of vehicle 100 and may be usedby the vehicle's computing devices 110 to provide information topassengers within the vehicle 100.

In one example, the vehicle's computing devices 110 may be an autonomousdriving computing system incorporated into vehicle 100. The autonomousdriving computing system may capable of communicating with variouscomponents of the vehicle as needed in order to control the vehicle infully autonomous (without input from a driver) as well as semiautonomous(some input from a driver) driving modes.

As an example, FIG. 2 depicts an interior design of a vehicle havingautonomous, semiautonomous, and manual (continuous input from a driver)driving modes. In this regard, the autonomous vehicle may include all ofthe features of a non-autonomous vehicle, for example: a steeringapparatus, such as steering wheel 210; a navigation display apparatus,such as navigation display 215 (which may be a part of electronicdisplay 156); and a gear selector apparatus, such as gear shifter 220.The vehicle may also have various user input devices 150 in addition tothe foregoing, such as touch screen 217 (again, which may be a part ofelectronic display 156), or button inputs 219, for activating ordeactivating one or more autonomous driving modes and for enabling adriver or passenger 290 to provide information, such as a navigationdestination, to the vehicle's computing devices 110.

Returning to FIG. 1, when engaged, the vehicle's computing devices 110may control some or all of these functions of vehicle 100 and thus befully or partially autonomous. It will be understood that althoughvarious systems and the vehicle's computing devices 110 are shown withinvehicle 100, these elements may be external to vehicle 100 or physicallyseparated by large distances.

In this regard, the vehicle's computing devices 110 may be incommunication various systems of vehicle 100, such as decelerationsystem 160, acceleration system 162, steering system 164, signalingsystem 166, navigation system 168, positioning system 170, andperception system 172, such that one or more systems working togethermay control the movement, speed, direction, etc. of vehicle 100 inaccordance with the instructions 134 stored in memory 130. Althoughthese systems are shown as external to the vehicle's computing devices110, in actuality, these systems may also be incorporated into thevehicle's computing devices 110, again as an autonomous drivingcomputing system for controlling vehicle 100.

As an example, the vehicle's computing devices 110 may interact withdeceleration system 160 and acceleration system 162 in order to controlthe speed of the vehicle. Similarly, steering system 164 may be used bythe vehicle's computing devices 110 in order to control the direction ofvehicle 100. For example, if vehicle 100 configured for use on a road,such as a car or truck, the steering system may include components tocontrol the angle of wheels to turn the vehicle. Signaling system 166may be used by the vehicle's computing devices 110 in order to signalthe vehicle's intent to other drivers or vehicles, for example, bylighting turn signals or brake lights when needed.

Navigation system 168 may be used by the vehicle's computing devices 110in order to determine and follow a route to a location. In this regard,the navigation system 168 and/or data 132 may store map information,e.g., highly detailed maps identifying the shape and elevation of roads,lane lines, intersections, crosswalks, speed limits, traffic signals,buildings, signs, real time traffic information, vegetation, or othersuch objects and information. Map information may also includeinformation that describes the location of speed limit signs as well asspeed limits for sections of road or zones.

FIG. 3 is an example of detailed map information 300 for a section ofroad. In this example, the detailed map information 300 includesinformation identifying the shape, location, and other characteristicsof speed limit signs 310, 312, lanes 320, 322, lane lines 330, and curbs340, 342. The speed limit signs 310, 312 may be indicated to be aparticular type of speed limit sign. In this case, each of speed limitsigns 310, 312 may be indicated to be a permanent speed limit sign withgeneral effect. The detailed map information 300 also includes abuilding 350 and a speed change location 360 associated with thebuilding 350. The speed change location is an area where the vehicleshould adjust its speed either by law, for safety, or for passengercomfort. For instance, speed change locations include a school zone, acurve in the road, a section of road with residential houses within asecond threshold distance of the road, a bridge, a ramp, a gravel road,blind turns, or occluded areas. The building 350 may be indicated to bea certain type of building in the detailed map information 300. In thisexample, the building 350 is a school building, and the speed changelocation 360 is a school zone.

Positioning system 170 may be used by the vehicle's computing devices110 in order to determine the vehicle's relative or absolute position ona map or on the earth. For example, the positioning system 170 mayinclude a GPS receiver to determine the device's latitude, longitudeand/or altitude position. Other location systems such as laser-basedlocalization systems, inertial-aided GPS, or camera-based localizationmay also be used to identify the location of the vehicle. The locationof the vehicle may include an absolute geographical location, such aslatitude, longitude, and altitude as well as relative locationinformation, such as location relative to other cars immediately aroundit which can often be determined with less noise that absolutegeographical location.

The positioning system 170 may also include other devices incommunication with the vehicle's computing devices 110, such as anaccelerometer, gyroscope or another direction/speed detection device todetermine the direction and speed of the vehicle or changes thereto. Byway of example only, an acceleration device may determine its pitch, yawor roll (or changes thereto) relative to the direction of gravity or aplane perpendicular thereto. The device may also track increases ordecreases in speed and the direction of such changes. The device'sprovision of location and orientation data as set forth herein may beprovided automatically to the vehicle's computing devices 110, othercomputing devices and combinations of the foregoing.

The perception system 172 also includes one or more components fordetecting and performing analysis on objects external to the vehiclesuch as other vehicles, obstacles in the road, traffic signals, signs,trees, etc. For example, the perception system 172 may include lasers,sonar, radar, one or more cameras, or any other detection devices whichrecord data which may be processed by the vehicle's computing devices110. In the case where the vehicle is a small passenger vehicle such asa car, the car may include a plurality of sensors which provide sensordata to the vehicle's computing devices. This sensor data may describethe shape and geographic location coordinates of objects detected in thevehicle's environment.

The vehicle's computing devices 110 may control the direction and speedof the vehicle by controlling various components. By way of example, ifthe vehicle is operating completely autonomously, the vehicle'scomputing devices 110 may navigate the vehicle to a location using datafrom the detailed map information and navigation system 168. Thevehicle's computing devices 110 may use the positioning system 170 todetermine the vehicle's location and perception system 172 to detect andrespond to objects when needed to reach the location safely. In order todo so, the vehicle's computing devices 110 may cause the vehicle toaccelerate (e.g., by increasing fuel or other energy provided to theengine by acceleration system 162), decelerate (e.g., by decreasing thefuel supplied to the engine or by applying brakes by deceleration system160), change direction (e.g., by turning the front or rear wheels ofvehicle 100 by steering system 164), and signal such changes (e.g. bylighting turn signals of signaling system 166).

Various components of the perception system 172 may be positioned on orin the vehicle 100 in order to better detect external objects while thevehicle is being driven. In this regard, the plurality of sensors, suchas laser range finders may be positioned or mounted on the vehicle. Asan example, the vehicle's computing devices 110 may control laser rangefinder, e.g., by rotating it 180 degrees. In addition, the perceptionsystem may include one or more cameras mounted internally on thewindshield of vehicle 100 to receive and analyze various images aboutthe environment. In addition to the laser range finder is positioned ontop of perception system 172, and the one or more cameras mountedinternally on the windshield, other detection devices, such as sonar,radar, GPS, etc., may also be positioned in a similar manner.

The vehicle's computing devices 110 may also include features such astransmitters and receivers that allow the one or more devices to sendand receive information to and from other devices. For example, the oneor more computing devices may determine information about the positionof a speed limit sign as well as information about speed changelocations. The one or more computing devices may send this informationto other computing devices associated with other vehicles.

Example Methods

As the vehicle 100 moves through its environment, the perception system172 detects and identifies various objects in the vehicle's environment.When the perception system 172 of the vehicle 100 detects an object, thevehicle's computing devices 110 may determine the location and/ororientation of the object and identify whether the object is a speedlimit sign. To determine whether the object is a speed limit sign, thetext on the object may be determined. The object may be classified as aspeed limit sign when the text on the object includes “speed limit,”“mph,” “kph,” a number, etc. For example, as shown in the examplescenario of FIG. 4, in which the vehicle 100 travels through the sectionof road corresponding to the detailed map information 300 in FIG. 3, theperception system 172 of vehicle 100 detects two objects 410, 412 down asection of road 400 and to the right hand side of the vehicle 100. Thevehicle's computing devices 110 identifies the detected objects as speedlimit signs by detecting the words “speed limit” and the number “45” onthe first object 410 and the words “speed limit” and the number “55” onthe second object 412.

When the detected object is identified as a speed limit sign, then thevehicle's computing devices 110 may determine whether the speed limitsign is permanent with general effect, permanent with local effect, ortemporary based on the pre-stored detailed map information and otherfactors. Examples of each of these determinations are described in turnbelow.

The speed limit sign may be determined to be permanent with generaleffect (i.e., not temporary) when the location of the identified speedlimit sign corresponds to a pre-stored location of a speed limit sign inthe pre-stored detailed map information. In some examples, thedetermination may be made when both the location and orientation of theidentified speed limit sign corresponds to a prestored location and apre-stored orientation of a speed limit sign in the pre-stored detailedmap information. In the example shown in FIG. 4, the vehicle's computingdevices 110 may detect and identify objects in a section of road 400that includes a speed limit sign. In this example, some of the detectedobjects are identified as a speed limit sign 410, lanes 420, 422, lanelines 430, curbs 440, 442, a building 450, and a speed change location460. The one or more of the detected objects in the vehicle'senvironment may correspond with objects stored in the detailed mapinformation, as shown in detailed map information 300, which may alsostore other information identifying the shape, location, orientation,and other characteristics of the objects. The vehicle's computingdevices 110 may determine that the identified speed limit sign 410 is apermanent speed limit sign with general effect based on whether thelocation and orientation of the identified speed limit sign correspondswith a location and orientation of the speed limit sign 310 in thedetailed map information. When the locations do correspond, as in theexamples of FIGS. 3 and 4, the identified speed limit sign 410 isdetermined to be the same type of speed limit sign as the speed limitsign 310, which is a permanent speed limit sign with general effect. Thelocations may be determined to correspond when the locations are withina predetermined distance, such as 5 feet or more or less, from oneanother. The orientations may be determined to correspond when theorientations are within a predetermined angle, such as 10 degrees ormore or less, from one another. The predetermined distance may be basedon how an accuracy of the detailed map information, where thepredetermined distance is smaller for map information having higheraccuracy and bigger for map information having lower accuracy. In sameor similar ways, the speed limit sign 412 may also be determined tocorrespond with the speed limit sign 312 in the pre-stored detailed mapinformation and there may be determined to be a permanent speed limitsign with general effect.

In addition, the speed limit sign may be determined to be permanent withgeneral effect when the speed limit on the speed limit sign correspondsto a speed limit in the pre-stored detailed map information for asection of road including the location and/or orientation of the speedlimit sign. The section of road may be identified as a speed changelocation, such as a school zone, in the pre-stored detailed mapinformation. As shown in the example scenario of FIG. 5, the vehicle'scomputing devices 110 may detect and identify objects in a section ofroad 500 that includes a speed limit sign located near a school zone. Inthis example, some of the detected objects are identified as a speedlimit sign 510, lanes 520, 522, lane lines 530, curbs 540, 542, abuilding 550, and a speed change location 560. Again, one or more of thedetected objects may correspond with objects stored in the detailed mapinformation, which may also store other information identifying theshape, location, orientation, and other characteristics of the objects.In the detailed map information, the building 550 may be indicated to bea school building, and the speed change location 560 may be indicated tobe a school zone. The speed change location 560 may also be indicated tohave a speed limit of 45 mph in the detailed map information. In someimplementations, the determination that the speed limit sign ispermanent with general effect may be based on the location and/ororientation corresponding with the pre-stored location and thepre-stored orientation as well as the speed limit corresponding to thepre-stored speed limit.

The vehicle's computing devices 110 may determine that the speed limitsign 510 is a permanent speed limit sign with general effect when thelocation of the speed limit sign is proximate to a speed change locationand a number on the speed limit sign matches the speed limit of thespeed change location. In the example shown in FIG. 5, the vehicle'scomputing devices 110 determine that the speed limit sign 510 is locatedwithin a set distance from a section of road that is indicated to be aspeed change location 560 in the pre-stored detailed map information300. The set distance may be, for example, 50 feet, 100 feet, or anotherdistance. The vehicle's computing devices 110 may determine that thenumber on the speed limit sign is 45 mph and determine that the numbermatches the speed limit of the speed change location 560 in the detailedmap information. As a result, the speed limit on the speed limit sign510 is determined to be a permanent speed limit sign having generaleffect in the speed change location 560.

Alternatively, when a speed change location is not identified in thedetailed map information, the vehicle's computing devices 110 maydetermine that a speed change location exists along a section of roadadjacent to a type of building associated with a speed change by law,for safety, or for passenger comfort. When the building 550 is indicatedto be a school building in the detailed map information, the vehicle'scomputing devices 110 may determine that the section of road adjacent tothe building 550 is a speed change location.

The identified speed limit sign may be determined to be permanent withlocal effect (i.e., also not temporary) when the identified location ofthe speed limit sign corresponds to specific characteristics, such asthe identified location is a first threshold distance off the road, suchas 3 feet or more or less from a curb, and is also along a section ofroad that has characteristics corresponding to a speed change location.

In the example shown in FIG. 6, the vehicle's computing devices 110 maydetect and identify objects and characteristics in a section of road 600that includes a speed limit sign located near a school zone. Some of thedetected objects are identified as speed limit sign 610, lanes 620, 622,lane lines 630, and curbs 640, 642. One or more of the detected objectsmay correspond with objects stored in the detailed map information,which may also store other information identifying the shape, location,orientation, and other characteristics of the objects. In addition, thedetected characteristics of the section of road 600 may include acurvature of the road, or curve. In some implementations, the detectedcharacteristics of the section of the road 600 may also be pre-stored inthe detailed map information.

The vehicle's computing devices 110 may determine that the section ofroad 600 is a speed change location based on the detected curvature ofthe road at the section of road 600. This determination of the speedchange location may be based on, for example, an amount of curvaturegreater than a threshold curvature, one or more other signs indicating acurve or a speed change, or an indication that is pre-stored in thedetailed map information.

The vehicle's computing devices 110 may determine that the speed limitsign 610 is a permanent speed limit sign with local effect based on thelocation of the speed limit sign proximate to a speed change location.In the example shown in FIG. 6, the vehicle's computing devices 110determine that the speed limit sign 610 is located within a set distancefrom a section of road that has characteristics associated with a speedchange location. The set distance may be, for example, 50 feet, 100feet, or another distance. As a result, the speed limit on the speedlimit sign 610, which is 30 mph, is determined to have local effect inthe speed change location.

The identified speed limit sign may be determined to be temporary when(i) the speed limit sign is not determined to be permanent as describedabove, (ii) the location of the speed limit sign is a temporarylocation, (iii) the speed limit sign has one or more characteristicsassociated with a temporary speed limit sign, or (iv) the speed limitsign is located proximate to a temporary speed change location.Temporary locations include locations that are within the firstthreshold distance off the road or locations that are on the roaditself. Characteristics associated with a temporary speed limit signincludes a height that is lower than a threshold height, a base havingwheels, types of colors, an angle of the sign, an angle or shape of abase, or proximity with other temporary signs.

In the example shown in FIG. 7, the vehicle's computing devices 110 maydetect and identify objects and characteristics in a section of road 700that includes speed limit signs located near a temporary speed changelocation corresponding to a geographic area 750. Some of the detectedobjects are identified as speed limit signs 710, 712, lanes 720, 722,lane lines 730, and curbs 740, 742. One or more of the detected objectsmay correspond with objects stored in the detailed map information,which may also store other information identifying the shape, location,orientation, and other characteristics of the objects.

For speed limit sign 710, the vehicle's computing devices 110 maydetermine that speed limit sign 710 is a temporary speed limit signbecause (i) the location of the speed limit sign 710 does not correspondto a location of a speed limit sign in the pre-stored detailed mapinformation and (ii) the speed limit on the speed limit sign 710 doesnot correspond to a speed limit in the pre-stored detailed mapinformation for a section of road including the detected location.Alternatively, the vehicle's computing devices 110 may determine thatspeed limit sign 710 is a temporary speed limit sign based on thelocation of speed limit sign 710 being within the first thresholddistance from the curb 740, such as one foot, and/or a height of thespeed limit sign 710 (from the ground to the bottom of the speed limitsign) is below a threshold height, such as seven feet.

For speed limit sign 712, the vehicle's computing devices 110 maydetermine that the speed limit sign 712 is a temporary speed limit signbased on the location of the speed limit sign 712 proximate to atemporary speed change location. The vehicle's computing devices 110 maydetermine that a temporary speed change location exists where a zoneassociated with a temporary speed change is detected in an area, such asthe geographic area 750. Within the geographic area 750, the vehicle'scomputing devices 110 may detect one or more objects associated with atemporary speed change location, such as a school zone or a constructionzone in a geographic area adjacent a section of road. The one or moreobjects that are associated with a school zone may include, for example,a school building, a crossing guard, or another sign indicating a speedchange. The one or more objects that are associated with a constructionzone may include, for example, a traffic cone, a construction vehicle, atemporary barrier, a construction worker, or another temporary sign. Inthe scenario shown in FIG. 7, a plurality of the objects associated witha construction zone may be detected in the geographic area 750. Thegeographic area 750 may therefore be determined to be a constructionzone.

When the geographic area 750 is determined to be a temporary speedchange location, the vehicle's computing devices 110 may determine thatthe points of the road adjacent to the geographic area 750 is atemporary speed change location, such as the temporary speed changelocation 760. Alternatively, sections of roads in the in the detailedmap information may be indicated in the detailed map information astemporary speed change locations. The vehicle's computing devices 110may determine that the location of the speed limit sign 712 is within aset distance from the temporary speed change location in the geographicarea 750, and that the speed limit sign 712 is a temporary speed limitsign. The set distance may be, for example, 50 feet, 100 feet, oranother distance.

The vehicle's computing devices 110 may then determine an effect zone ofthe permanent with general effect, permanent with local effect, ortemporary speed limit sign. The effect zone is a section of road wherethe speed limit of the speed limit sign applies. For a speed limit signthat is permanent with general effect, a start point of the effect zonemay be either at a point of the road at the location of the speed limitsign or a predetermined distance before the speed limit sign. Thepredetermined distance may be determined based on laws of applicable inthe geographic area including the location of the speed limit sign.

In some geographic areas, for example the geographic area shown in FIG.4, the effect zone of a speed limit sign 410 that is determined to bepermanent with general effect may start at a start point 50 feet or moreor less ahead of the location of the speed limit sign 410. An end pointof the effect zone for a speed limit sign that is permanent with generaleffect may be a start point of another speed limit sign along the road.For the speed limit sign 410, the end point may be the start point ofspeed limit sign 412, which may be 50 feet or more or less ahead of thelocation of speed limit sign 412. In other examples, such as the examplein FIG. 5, the start point and end point of the speed limit sign 510that is determined to be permanent with general effect may be a startpoint and end point of a zone identified in the pre-stored detailed mapinformation, such as speed change location 560.

For a speed limit sign that is permanent with local effect, a startpoint of the effect zone may be a start point of the speed changelocation associated with the speed limit sign that is permanent withlocal effect, and an end point of the effect zone may be an end point ofthe speed change location. For example, as discussed above with respectto in FIG. 6, the speed change location may be a curve in the road, suchas the curve in section of the road 600, and the effect zone may be thecurve in the road. The effect zone for speed limit sign 610 maytherefore be between the start of the section of the road 600 and theend of the section of the road 600. In other examples, the start pointand the end point may be determined as described above with respect topermanent speed limit signs with general effect.

For a temporary speed limit sign, such as speed limit signs 710, 712shown in FIG. 7, a start point of the effect zone and an end point ofthe effect zone may be determined using a confidence level indicatingwhether the speed limit on the temporary speed limit sign applies tovarious points along the road. The value of a confidence level may be apercentage, a number on a scale, or other type of quantifier that may beused to indicate confidence level. A higher confidence level mayindicate that the speed limit is more likely to apply to a given pointin the road and therefore is more likely be part of the effect zone. Asan example, a first point of the road that has a confidence level thatexceeds a first or upper confidence threshold, such as 70% or more orless, may be determined as the start point of the effect zone. A secondpoint of the road further downstream from the first point of the roadthat has a confidence level that falls below a second or lowerconfidence threshold, such as 30% or more or less, may be determined asthe end point of the effect zone. In other implementations, the upperconfidence threshold and the lower confidence threshold may be the same,such as 50% or more or less.

The confidence level may be determined based on the location of thespeed limit sign, characteristics of surrounding areas, detected signsbefore and after the speed limit sign, and detected vehicles on theroad. As an example, points of the road at or past the speed limit signand before a next speed limit sign may have higher confidence levelsthan at or past the next speed limit sign or before the speed limitsign. Points of the road within a predetermined distance, such as 50feet, 100 feet, or another distance, before the speed limit sign mayhave higher confidence levels for the speed limit sign than points ofthe road farther away, or outside the predetermined distance, before thespeed limit sign. Similarly, points of the road within the predetermineddistance before a next speed limit sign may have lower confidence levelsfor the speed limit sign than points of the road outside thepredetermined distance from the next speed limit sign.

Referring to the example in FIG. 7, the points of the road between speedlimit signs 710 and 712 may have a higher confidence level than thepoints of the road after the speed limit sign 712 and before the speedlimit sign 710. The points of the road within 50 feet in front of thespeed limit sign 710 may have a higher confidence level for the speedlimit sign 710 than the points of the road more than 50 feet in front ofthe speed limit sign 710. In addition, the points of the road within 50feet in front of the speed limit sign 712 may have a lower confidencelevel for the speed limit sign 710 than the points of the road more than50 feet in front of the speed limit sign 712. The confidence level forthe speed limit sign 710 may be above the upper confidence threshold forpoints of the road starting at or about 50 feet in front of the speedlimit sign 710. In addition, the confidence level for the speed limitsign 710 may drop below the lower confidence threshold for points of theroad at or about 50 feet in front of the speed limit sign 712. Theeffect zone for the speed limit sign 710 may therefore be between at orabout 50 feet in front of the speed limit sign 710 and at or about 50feet in front of the speed limit sign 712.

To determine confidence levels based on the characteristics ofsurrounding areas, for example, points of the road in a temporary speedchange location may also have higher confidence levels than other pointsof the road for a speed limit sign that is within a set distance fromthe temporary speed change location. Points of the road after thetemporary speed change location may have a lower confidence level forthe speed limit sign that is within the set distance from the temporaryspeed change location. The set distance may be 50 feet, 100 feet, orother distance. In addition, when an additional traffic cone is detectedat a point of the road after the end of the temporary speed changelocation, the points of the road between the end of the temporary speedchange location and the point of the road may have a higher confidencelevel. When no additional traffic cones are detected at points of theroad farther down the road, the confidence level may be lower for thespeed limit sign. As discussed above with respect to geographic area 750in FIG. 7, temporary speed change locations may be identified in thepre-stored detailed map information, while other temporary speed changelocations may be detected by the vehicle's computing devices 110 usingthe perception system 172 when the vehicle 100 is in proximity. For thespeed limit sign 712, the points of the road in the temporary speedchange location 760, have a higher confidence level than other points ofthe road. Points of the road after the temporary speed change location760 may have a lower confidence level than points of the road within thetemporary speed change location 760 or near the speed limit sign 712.The effect zone for speed limit sign 712 may be between at or about 50feet in front of the speed limit sign 712 and the end of the temporaryspeed change location 760.

To also determine the confidence level based on other detected signs,for example, the vehicle's computing devices 110 may extract text orsymbols from the detected signs. Signs that indicate a change of speedlimit or surrounding area is ahead may have text such as “slow ahead,”“construction ahead,” “men at work,” etc. When signs indicating changeof speed limit or surrounding area is ahead are detected, the confidencelevel at points of the road after the detected sign may be increased.The other detected signs may also indicate a time period or distance atwhich a speed limit change or surrounding area change may begin or end.For example, the text of the detected signs may recite “construction in1000 feet,” “lane closures between 7 pm and 6 am starting August 15,”“speed limit when children are present,” etc. The confidence level maybe increased to exceed the upper confidence threshold within theindicated time period or at the indicated distance and decreased tobelow the upper or lower confidence threshold outside the indicated timeperiod or distance. In addition, other detected signs may indicate whenthe effect zone ends, such as a sign stating “end road work” or “endconstruction.” When signs indicating end of the effect zone aredetected, the confidence level at points of the road after the detectedsign may be lower than before the detected sign and below the lowerconfidence threshold.

The computing devices may also determine the confidence level based onother vehicles detected by the perception system 172. For example, thevehicle's computing devices 110 detect that one or more detectedvehicles begin to change speed at a same or similar point of the road.The one or more detected vehicles may be detected to either accelerateor decelerate. When the point of the road is before a temporary speedlimit sign, the confidence level between the point of the road and thelocation of the temporary speed limit sign may be increased. When thepoint of the road is after or beyond a temporary speed limit sign, theconfidence level between the location of the temporary speed limit signand the point of the road may be decreased. In some examples, the startpoint and the end point of the permanent speed limit signs with generalor local effect may also be determined based on a point of the roadwhere one or more detected vehicles begin to change speed.

In addition to or as an alternative to using the confidence level, thestart point of the effect zone and the end point of the effect zone maybe determined for the temporary speed limit sign using same or similarmethods as described above with respect to the permanent speed limitsign with general or local effect. For example, the start point may be50 feet or more or less ahead of the location of the temporary speedlimit sign, such as speed limit sign 710. The end point may be a startpoint of another speed limit sign along the road, such as 50 feet ormore or less ahead of the location of speed limit sign 712. In anotherimplementation, the start point may be a start point of the temporaryspeed change location associated with the temporary speed limit sign,such as the temporary speed change location 760, which is associatedwith the temporary speed limit sign 712. The end point for the temporaryspeed limit sign in this implementation may be an end point of thetemporary speed change location.

The determination of the effect zone may be updated at regularintervals, such as every few seconds or every few yards, and/or when anew object is detected. For temporary speed limit signs, the confidencelevel at each point of the road may be updated based on newly detectedobjects. For example, when a traffic cone is newly detected at a pointof the road farther down the road than a determined end of an effectzone, the end of the effect zone may be updated to be at the location ofthe newly detected traffic cone.

When the effect zone of the detected speed limit sign is determined, thevehicle's computing devices 110 may determine how the vehicle 100 shouldrespond. This determination may be based on the effect zone or theeffect zone confidence level. The vehicle's computing devices 110 maydetermine when to adjust the vehicle's speed so as to be within thespeed limit on the speed limit sign at or slightly after the start pointof the speed limit sign's effect zone. The vehicle's computing devices110 may also determine when to adjust the vehicle's speed so as toresume a previous speed limit or be within a speed limit on a next speedlimit sign at or slightly after the end point of the speed limit sign'seffect zone. In examples involving temporary speed limit signs, thevehicle's speed may be adjusted based on the effect zone confidencelevel at a point of the road. As the confidence level increases, thevehicle's speed may be adjusted closer to the speed limit of the speedlimit sign.

In some examples, the determined response may also be based on adetected flow of surrounding traffic. The perception system 172 of thevehicle may detect surrounding vehicles and their speeds. When an effectzone confidence level for a given point of the road or a given sectionof the road is below the upper confidence threshold, the vehicle'scomputing devices 110 may compare the speeds of the surrounding vehicleswith the detected speed limit to determine whether the vehicle shouldoperate based on the speed limit of the detected speed limit sign at thegiven point or section of the road. When a percentage of the surroundingvehicles, such as 30%, are being operated within the determined speedlimit, the vehicle's computing devices 110 may determine that thevehicle should operate based on the speed limit of the detected speedlimit sign.

Rather than observing the speed of other vehicles at any given point orpoints in time to determine their relative speeds, the computing devices110 may use information from the perception system 172 to makedeterminations about the “flow” of traffic. For example, if all vehiclesare stopped, the computing devices 110 may determine that there is nosuch flow or there is no flow to measure. However, if one or more othervehicles are slowing down when approaching a stop sign, the computingdevices 110 may determine that the flow of traffic is slowing down andstopping at the stop sign. The computing devices may also observe howthese one or more other vehicles behave after passing the stop sign, orrather, to what new speed these one or more other vehicles accelerate toafter the stop sign. These observations may be combined to identify theflow of the traffic before and after the stop sign: slowing down andstopping for the stop sign, and thereafter accelerating to the newspeed. As another example, in heavy traffic conditions, all vehicles maybe moving slowly, for instance below the speed limit, both before andafter the stop sign whether or not it is permanent or temporary. As suchdetermining the flow of such vehicles may be more difficult, but stillpossible.

The vehicle's computing devices 110 may then control the vehicle 100based on the determined response or flow of traffic. Controlling thevehicle 100 may involve decelerating using the deceleration system 160or accelerating using the acceleration system 162 such that the vehicleis traveling at a speed according to the speed limit for a given pointof the road.

In FIG. 8, flow diagram 800 depicts a method of controlling the vehicle100 according to aspects of the disclosure described above. The methodmay be performed by the vehicle's computing devices 110. While FIG. 8shows blocks in a particular order, the order may be varied and thatmultiple operations may be performed simultaneously. Also, operationsmay be added or omitted.

At block 802, an object detected in a vehicle's environment may beidentified, or classified, by the vehicle's computing devices 110 as aspeed limit sign, such as one of speed limit signs 410, 412, 510, 610,710, or 712. The identified speed limit sign may be detected at adetected location and having a detected orientation. The classificationmay be based on detected words or numbers on the detected object, asdescribed above.

At block 804, the vehicle's computing devices 110 may determine whetherthe detected location of the identified speed limit sign corresponds toa pre-stored location of a speed limit sign that is pre-stored in mapinformation. For example, the detected location of the speed limit signs410, 412, for example, corresponds with the pre-stored location of thespeed limit signs 310, 312 in detailed map information 300. The detectedlocations of speed limit signs 510, 610, 710, and 712 may not correspondwith the pre-stored locations of any speed limit signs in the detailedmap information. In some examples, the vehicle's computing devices 110may also determine whether the detected orientation of the identifiedspeed limit sign corresponds to a pre-stored orientation of the speedlimit sign that is pre-stored in map information. For example, thedetected orientation of the speed limit signs 410, 412, for example,corresponds with the pre-stored orientation of the speed limit signs310, 312 in detailed map information 300. The detected orientation ofspeed limit signs 510, 610, 710, and 712 may not correspond with thepre-stored orientations of any speed limit signs in the detailed mapinformation.

At block 806, an effect zone of the identified speed limit sign may bedetermined when the identified speed limit sign does not correspond tothe pre-stored location and/or the pre-stored orientation of thepre-stored speed limit sign. The effect zone may be determined based onthe detected location of the detected speed limit sign, characteristicsof surrounding areas, and at least one other detected object before orafter the speed limit sign. For speed limit sign 510, for instance, theeffect zone may be determined to be within the speed change location560, which is detected or identified in the surrounding area. For speedlimit sign 610, the effect zone may be determined to be within thesection of road 600 based on the curvature characteristic of the sectionof road 600. For speed limit sign 710, the effect zone may be determinedto be between at or about 50 feet in front of the speed limit sign 710and at or about 50 feet in front of the speed limit sign 712 based onthe detected locations of speed limit signs 710, 712. For speed limitsign 712, the effect zone may be determined to be between at or about 50feet in front of the speed limit sign 712 and the end of the temporaryspeed change location 760 based on the detected location of the speedlimit sign 712 and the characteristics of geographic area 750 and thetemporary speed change location 760.

At block 808, the vehicle's computing devices 110 may determine aresponse of the vehicle 100 based on the determined effect zone of thedetected speed limit sign. The vehicle's computing devices 110 maydetermine what speed limit at which to operate the vehicle 100 at eachpoint or section of road. At block 810, the vehicle 100 may becontrolled by the vehicle's computing devices 110 based on thedetermined response.

Unless otherwise stated, the foregoing alternative examples are notmutually exclusive, but may be implemented in various combinations toachieve unique advantages. As these and other variations andcombinations of the features discussed above can be utilized withoutdeparting from the subject matter defined by the claims, the foregoingdescription of the embodiments should be taken by way of illustrationrather than by way of limitation of the subject matter defined by theclaims. In addition, the provision of the examples described herein, aswell as clauses phrased as “such as,” “including” and the like, shouldnot be interpreted as limiting the subject matter of the claims to thespecific examples; rather, the examples are intended to illustrate onlyone of many possible embodiments. Further, the same reference numbers indifferent drawings can identify the same or similar elements.

The invention claimed is:
 1. A computer-implemented method comprising:identifying, by one or more computing devices, a speed limit sign in avehicle's environment; identifying, by the one or more computingdevices, a location and orientation corresponding to the speed limitsign; determining, by the one or more computing devices, whether thelocation and orientation of the identified speed limit sign correspondsto a pre-stored location and a pre-stored orientation of a speed limitsign that is pre-stored in map information; when the location andorientation do not correspond to the pre-stored location and thepre-stored orientation, determining, by the one or more computingdevices, an effect zone of the identified speed limit sign based on thelocation and orientation of the identified speed limit sign andcharacteristics of surrounding areas or other detected object before orafter the identified speed limit sign; determining, by the one or morecomputing devices, a response of the vehicle based on the determinedeffect zone of the identified speed limit sign; and controlling, by theone or more computing devices, the vehicle based on the determinedresponse.
 2. The method of claim 1, wherein determining the effect zoneof the identified speed limit sign includes determining a start pointand an end point of the effect zone.
 3. The method of claim 2, whereinthe start point is determined to be at a point of a road at apredetermined distance before the location, and the end point isdetermined to be at a point of the road at a predetermined distancebefore a location of another speed limit sign.
 4. The method of claim 2,wherein the start point is determined to be a first point of a roadwhere a speed change location begins, and the end point is determined tobe a second point of the road where the speed change location ends. 5.The method of claim 1, wherein determining the effect zone of theidentified speed limit sign includes determining a confidence level forwhether a speed limit on the identified speed limit sign applies to apoint in a road.
 6. The method of claim 5, wherein the confidence levelis determined to be: higher for points of the road at or past theidentified speed limit sign and before another speed limit sign than forpoints before the identified speed limit sign; higher for points of theroad in a temporary speed change location than for points of the roadoutside the temporary speed change location; higher for points of theroad at or past a first detected sign having text or symbols related toan upcoming change in speed for points of the road before the identifiedspeed limit sign; and lower for points of the road at or past a seconddetected sign having text or symbols related to an end of the effectzone.
 7. The method of claim 5, wherein the effect zone is determined bycomparing the confidence level to a first confidence threshold and asecond confidence threshold, wherein: when a first point of the road hasa first confidence level above the first confidence threshold, the firstpoint of the road is determined to be a start point of the effect zone;and when a second point of the road has a second confidence level belowthe second confidence threshold, the second point of the road isdetermined to be an end point of the effect zone.
 8. The method of claim1, further comprising: detecting, by the one or more computing devices,a plurality of vehicles in the vehicle's environment; and determining,by the one or more computing devices, a speed of each of the pluralityof vehicles in the vehicle's environment; and wherein determining theresponse of the vehicle is based also on the determined speed of each ofthe plurality of vehicles.
 9. A system comprising: a perception systemconfigured to detect an object in a vehicle's environment at a detectedlocation; a memory storing map information; and one or more computingdevices configured to: identify a speed limit sign in a vehicle'senvironment; identify a location and orientation corresponding to theidentified speed limit sign; determine whether the location andorientation of the identified speed limit sign corresponds to apre-stored location and a pre-stored orientation of a speed limit signthat is pre-stored in the map information; when the location andorientation do not correspond to the pre-stored location and thepre-stored orientation of the pre-stored speed limit sign, determine aneffect zone of the identified speed limit sign based on the location andorientation of the identified speed limit sign and characteristics ofsurrounding areas or other detected object before or after theidentified speed limit sign; determine a response of the vehicle basedon the determined effect zone of the identified speed limit sign; andcontrol the vehicle based on the determined response.
 10. The system ofclaim 9, wherein determining the effect zone of the identified speedlimit sign includes determining a start point and an end point of theeffect zone.
 11. The system of claim 10, wherein the start point isdetermined to be at a point of a road at a predetermined distance beforethe location of the identified speed limit sign, and the end point isdetermined to be at a point of the road at a predetermined distancebefore a location of another speed limit sign.
 12. The system of claim10, wherein the start point is determined to be a first point of a roadwhere a speed change location begins, and the end point is determined tobe a second point of the road where the speed change location ends. 13.The system of claim 9, wherein determining the effect zone of theidentified speed limit sign includes determining a confidence level forwhether a speed limit on the identified speed limit sign applies to apoint in a road.
 14. The system of claim 13, wherein the confidencelevel is determined to be: higher for points of the road at or past theidentified speed limit sign and before another speed limit sign than forpoints before the identified speed limit sign; higher for points of theroad in a temporary speed change location than for points of the roadoutside the temporary speed change location; higher for points of theroad at or past a first detected sign having text or symbols related toan upcoming change in speed; and lower for points of the road at or pasta second detected sign having text or symbols related to an end of theeffect zone.
 15. The system of claim 13, wherein the effect zone isdetermined by comparing the confidence level to a first confidencethreshold and a second confidence threshold, wherein: when a first pointof the road has a first confidence level above the first confidencethreshold, the first point of the road is determined to be a start pointof the effect zone; and when a second point of the road has a secondconfidence level below the second confidence threshold, the second pointof the road is determined to be an end point of the effect zone.
 16. Thesystem of claim 9, wherein the one or more computing devices are furtherconfigured to: detect a plurality of vehicles in the vehicle'senvironment; and determine a speed of each of the plurality of vehiclesin the vehicle's environment; and wherein the determined response of thevehicle is based also on the determined speed of each of the pluralityof vehicles.
 17. The system of claim 9, further comprising the vehicle.18. A non-transitory, tangible computer-readable storage medium on whichcomputer readable instructions of a program are stored, theinstructions, when executed by one or more computing devices, cause theone or more computing devices to perform a method, the methodcomprising: identifying a speed limit sign in a vehicle's environment;identifying a location and orientation corresponding to the identifiedspeed limit sign; determining whether the location and orientation ofthe identified speed limit sign corresponds to a pre-stored location andpre-stored orientation of a speed limit sign that is pre-stored in mapinformation; when the location and orientation do not correspond to thepre-stored location and pre-stored orientation of the pre-stored speedlimit sign, determining an effect zone of the identified speed limitsign based on the location and orientation of the identified speed limitsign and characteristics of surrounding areas or other detected objectbefore or after the identified speed limit sign; determining a responseof the vehicle based on the determined effect zone of the identifiedspeed limit sign; and controlling the vehicle based on the determinedresponse.
 19. The medium of claim 18, wherein determining the effectzone of the identified speed limit sign includes determining aconfidence level for whether a speed limit on the identified speed limitsign applies to a point in a road; wherein the confidence level isdetermined to be: higher for points of the road at or past theidentified speed limit sign and before another speed limit sign than forpoints before the identified speed limit sign; higher for points of theroad in a temporary speed change location than for points of the roadoutside the temporary speed change location; higher for points of theroad at or past a first detected sign having text or symbols related toan upcoming change in speed; and lower for points of the road at or pasta second detected sign having text or symbols related to an end of theeffect zone.
 20. The medium of claim 18, wherein determining the effectzone of the identified speed limit sign includes determining aconfidence level for whether a speed limit on the identified speed limitsign applies to a point in a road by comparing the confidence level to afirst confidence threshold and a second confidence threshold; wherein:when a first point of the road has a first confidence level above thefirst confidence threshold, the first point of the road is determined tobe a start point of the effect zone; and when a second point of the roadhas a second confidence level below the second confidence threshold, thesecond point of the road is determined to be an end point of the effectzone.